TY - JOUR
T1 - A methodology for the performance evaluation of inertial measurement units
AU - Sessa, Salvatore
AU - Zecca, Massimiliano
AU - Lin, Zhuohua
AU - Bartolomeo, Luca
AU - Ishii, Hiroyuki
AU - Takanishi, Atsuo
N1 - Funding Information:
Acknowledgements This research has been partially supported by a Grant by STMicroelectronics, which also provided the core sensors and the microcontroller. This work was also supported in part by: the Global COE Program “Global Robot Academia”, MEXT, Japan; the Advancement of University Education Project of Chinese government Grant # [2007] – 3020; the JSPS Grant-in-aid for Scientific Research #19700389; the Waseda University Grant for Special Research Projects (No. 266740); the JSPS Postdoctoral Fellowship Program for Foreigner Researcher FY2008; and the Consolidated Research Institute for Advanced Science and Medical Care, Waseda University (ASMeW). The authors would like to express their thanks to the Italian Ministry of Foreign Affairs, General Directorate for Cultural Promotion and Cooperation, for its support to RoboCasa. The authors would also like to express their gratitude to Life Performance Research, Okino Industries LTD, Japan ROBOTECH LTD, SolidWorks Corp, Dyden, for their support to the research.
PY - 2013/8
Y1 - 2013/8
N2 - This paper presents a methodology for a reliable comparison among Inertial Measurement Units or attitude estimation devices in a Vicon environment. The misalignment among the reference systems and the lack of synchronization among the devices are the main problems for the correct performance evaluation using Vicon as reference measurement system. We propose a genetic algorithm coupled with Dynamic Time Warping (DTW) to solve these issues. To validate the efficacy of the methodology, a performance comparison is implemented between the WB-3 ultra-miniaturized Inertial Measurement Unit (IMU), developed by our group, with the commercial IMU InertiaCube3™ by InterSense.
AB - This paper presents a methodology for a reliable comparison among Inertial Measurement Units or attitude estimation devices in a Vicon environment. The misalignment among the reference systems and the lack of synchronization among the devices are the main problems for the correct performance evaluation using Vicon as reference measurement system. We propose a genetic algorithm coupled with Dynamic Time Warping (DTW) to solve these issues. To validate the efficacy of the methodology, a performance comparison is implemented between the WB-3 ultra-miniaturized Inertial Measurement Unit (IMU), developed by our group, with the commercial IMU InertiaCube3™ by InterSense.
KW - Inertial Measurement Units
KW - Motion capture systems
KW - Motion sensors calibration
KW - Performance evaluation
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U2 - 10.1007/s10846-012-9772-8
DO - 10.1007/s10846-012-9772-8
M3 - Article
AN - SCOPUS:84880196178
SN - 0921-0296
VL - 71
SP - 143
EP - 157
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
IS - 2
ER -